US4766389A - Capacitor array sensors tactile and proximity sensing and methods of use thereof - Google Patents
Capacitor array sensors tactile and proximity sensing and methods of use thereof Download PDFInfo
- Publication number
- US4766389A US4766389A US06/903,178 US90317886A US4766389A US 4766389 A US4766389 A US 4766389A US 90317886 A US90317886 A US 90317886A US 4766389 A US4766389 A US 4766389A
- Authority
- US
- United States
- Prior art keywords
- sensor
- capacitance
- output
- array
- detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
- B25J13/083—Grasping-force detectors fitted with slippage detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
- G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
- G01D5/2417—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying separation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
- G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
- G01L1/146—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors for measuring force distributions, e.g. using force arrays
Abstract
Description
C=K×A/t
Claims (24)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/903,178 US4766389A (en) | 1986-09-03 | 1986-09-03 | Capacitor array sensors tactile and proximity sensing and methods of use thereof |
JP62505560A JP2743977B2 (en) | 1986-09-03 | 1987-09-03 | Capacitance sensor and capacitance sensor array |
PCT/US1987/002205 WO1988001747A1 (en) | 1986-09-03 | 1987-09-03 | Capacitor array sensors tactile and proximity sensing and methods of use thereof |
EP19870906139 EP0281610A4 (en) | 1986-09-03 | 1987-09-03 | Capacitor array sensors tactile and proximity sensing and methods of use thereof |
AU79662/87A AU596873B2 (en) | 1986-09-03 | 1987-09-03 | Capacitor array sensors tactile and proximity sensing and methods of use thereof |
US07/225,820 US4908574A (en) | 1986-09-03 | 1988-07-29 | Capacitor array sensors for determining conformity to surface shape |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/903,178 US4766389A (en) | 1986-09-03 | 1986-09-03 | Capacitor array sensors tactile and proximity sensing and methods of use thereof |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US07/225,820 Continuation-In-Part US4908574A (en) | 1986-09-03 | 1988-07-29 | Capacitor array sensors for determining conformity to surface shape |
Publications (1)
Publication Number | Publication Date |
---|---|
US4766389A true US4766389A (en) | 1988-08-23 |
Family
ID=25417067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US06/903,178 Expired - Lifetime US4766389A (en) | 1986-09-03 | 1986-09-03 | Capacitor array sensors tactile and proximity sensing and methods of use thereof |
Country Status (5)
Country | Link |
---|---|
US (1) | US4766389A (en) |
EP (1) | EP0281610A4 (en) |
JP (1) | JP2743977B2 (en) |
AU (1) | AU596873B2 (en) |
WO (1) | WO1988001747A1 (en) |
Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4950987A (en) * | 1989-03-03 | 1990-08-21 | University Of North Carolina At Charlotte | Magneto-inductive sensor for performing tactile and proximity sensing |
US5127301A (en) * | 1987-02-03 | 1992-07-07 | Yamaha Corporation | Wear for controlling a musical tone |
US5315259A (en) * | 1992-05-26 | 1994-05-24 | Universities Research Association, Inc. | Omnidirectional capacitive probe for gauge of having a sensing tip formed as a substantially complete sphere |
EP0838737A1 (en) * | 1996-10-25 | 1998-04-29 | Asulab S.A. | Means for identifying a manual action on a surface, in particular for a time piece |
EP0942259A1 (en) * | 1998-03-09 | 1999-09-15 | STMicroelectronics, Inc. | Capacitive distance sensor |
US5988971A (en) * | 1997-07-09 | 1999-11-23 | Ade Optical Systems Corporation | Wafer transfer robot |
US6369588B1 (en) | 1999-11-09 | 2002-04-09 | Gerard E. Sleefe | Sensor system for web inspection |
WO2002077566A1 (en) * | 2001-03-23 | 2002-10-03 | Vibrosystm Inc. | Non intrusive and dynamic method for measuring a distance or the variation thereof through dielectrics |
WO2003019106A1 (en) * | 2001-08-31 | 2003-03-06 | Friedrich Franek | Sensor for determining surface parameters of a test object |
DE19641607C2 (en) * | 1995-10-10 | 2003-05-15 | Esab Group Inc | Digitizing probe and CNC cutting machine |
US6593756B1 (en) * | 1998-12-23 | 2003-07-15 | Rubitec Gesellschaft für Innovation und Technologie der Ruhruniversität Bochum mbH | Tactile sensor |
US20040257744A1 (en) * | 2003-06-23 | 2004-12-23 | Bushko Wit Cezary | Collision avoidance system and method |
US20060267140A1 (en) * | 2005-05-26 | 2006-11-30 | Korea Advanced Institute Of Science And Technology | Electrode layer for capacitors, method of manufacturing the electrode layer, unit sensor using the electrode layer, and tactile sensor using the unit sensor |
DE10247404B4 (en) * | 2002-10-04 | 2007-10-18 | T & T Medilogic Medizintechnik Gmbh | Sensor for detecting forces by size and direction and pressure measuring plate formed therefrom |
US20080229061A1 (en) * | 2006-09-28 | 2008-09-18 | Infineon Technologies Ag | Processor Element for use in a Network of Processor Elements |
US20090067973A1 (en) * | 2007-09-12 | 2009-03-12 | Intelligent Hospital Systems Ltd. | Gripper Device |
US20100105296A1 (en) * | 2007-01-29 | 2010-04-29 | Tosoh Smd, Inc. | Ultra smooth face sputter targets and methods of producing same |
US8515579B2 (en) | 2009-12-09 | 2013-08-20 | GM Global Technology Operations LLC | Systems and methods associated with handling an object with a gripper |
US20130238129A1 (en) * | 2012-03-08 | 2013-09-12 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
US9243390B2 (en) | 2013-03-14 | 2016-01-26 | Delta Faucet Company | Capacitive sensing faucet including a conductive polymer |
US9605952B2 (en) | 2012-03-08 | 2017-03-28 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
CN107247523A (en) * | 2017-05-26 | 2017-10-13 | 清华大学 | A kind of Fingertip tactile-sense interactive device of many arrays |
US9901499B2 (en) | 2014-01-29 | 2018-02-27 | Roho, Inc. | Cushion immersion sensor |
CN108051027A (en) * | 2017-11-23 | 2018-05-18 | 清华-伯克利深圳学院筹备办公室 | A kind of sliding feeling sensor that can be measured pressure simultaneously and slide |
US20200191704A1 (en) * | 2017-08-14 | 2020-06-18 | Newsouth Innovations Pty Limited | Friction-based tactile sensor for measuring grip security |
US10718359B2 (en) | 2015-08-21 | 2020-07-21 | Quality Manufacturing Inc. | Devices and systems for producing rotational actuation |
WO2021080730A1 (en) * | 2019-10-25 | 2021-04-29 | Dexterity, Inc. | Detecting slippage from robotic grasp |
US11607816B2 (en) | 2019-10-25 | 2023-03-21 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
US11969880B2 (en) | 2023-02-08 | 2024-04-30 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0425823A1 (en) * | 1989-09-29 | 1991-05-08 | Antivision Systems Corp. | Electrocstatic imaging apparatus |
WO1992008947A1 (en) * | 1990-11-16 | 1992-05-29 | Moonstone Designs Limited | Device for determining the presence and/or characteristics of an object or a substance |
ATE160864T1 (en) * | 1992-02-10 | 1997-12-15 | Syel Di Franchi A Martolini A | ELECTRONIC CAPACITIVE SENSOR BAR DEVICE |
WO2016049583A1 (en) | 2014-09-25 | 2016-03-31 | Switch It, Inc. | Drive control system for powered wheelchair |
US9733062B2 (en) * | 2015-11-20 | 2017-08-15 | General Electric Company | Systems and methods for monitoring component strain |
US10976147B2 (en) * | 2018-02-02 | 2021-04-13 | American University Of Beirut | Thickness measurement device and methods of use |
EP3946822A4 (en) * | 2019-03-29 | 2022-12-28 | RIOS Intelligent Machines, Inc. | Tactile perception apparatus for robotic systems |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3651505A (en) * | 1969-03-24 | 1972-03-21 | Schmall Margit | Capacitive distance measuring |
US4266263A (en) * | 1977-01-21 | 1981-05-05 | Semperit Aktiengesellschaft | Force measuring capacitor |
US4413349A (en) * | 1980-10-31 | 1983-11-01 | General Dynamics Corporation/Convair Div. | Non-contact measurement system and method for determining the contour of an electrically conductive surface |
US4451780A (en) * | 1980-09-26 | 1984-05-29 | Ogasawara Hiromi | Non-contact type microdisplacement meter |
US4526043A (en) * | 1983-05-23 | 1985-07-02 | At&T Bell Laboratories | Conformable tactile sensor |
DD226827A1 (en) * | 1984-09-06 | 1985-09-04 | Akad Wissenschaften Ddr | SLIDING SENSOR FOR MEASURING TWO-DIMENSIONAL SHIFTS |
US4555953A (en) * | 1984-04-16 | 1985-12-03 | Paolo Dario | Composite, multifunctional tactile sensor |
US4557386A (en) * | 1983-06-27 | 1985-12-10 | Cochlea Corporation | System to measure geometric and electromagnetic characteristics of objects |
US4584625A (en) * | 1984-09-11 | 1986-04-22 | Kellogg Nelson R | Capacitive tactile sensor |
US4588348A (en) * | 1983-05-27 | 1986-05-13 | At&T Bell Laboratories | Robotic system utilizing a tactile sensor array |
US4611296A (en) * | 1983-11-11 | 1986-09-09 | Siemens Aktiengesellschaft | Manipulation device such as an industrial robot having at least one sensor |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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US4096252A (en) * | 1976-06-10 | 1978-06-20 | J. Uriach & Cia S.A. | 4-Trifluoromethylbenzoic acid derivatives as thromboembolic agents |
JPS5328448A (en) * | 1976-08-30 | 1978-03-16 | Agency Of Ind Science & Technol | Tactile sensor |
US4190797A (en) * | 1978-03-31 | 1980-02-26 | Gould Inc. | Capacitive gauging system utilizing a low internal capacitance, high impedance amplifier means |
US4300093A (en) * | 1979-12-03 | 1981-11-10 | Ogasawara Hiromi | Device for measuring the amount of rotation of a rotating object |
CH652823A5 (en) * | 1980-03-26 | 1985-11-29 | Bosch Gmbh Robert | TRAVEL FREQUENCY MEASURING TRANSMITTER. |
JPS57158052A (en) * | 1981-03-26 | 1982-09-29 | Toshiba Corp | Detection system for fine variation in electrostatic capacity |
JPS6064287A (en) * | 1983-09-19 | 1985-04-12 | Sensaa Gijutsu Kenkyusho:Kk | Proximity sensor with mutual interference preventive apparatus |
US4605354A (en) * | 1984-07-30 | 1986-08-12 | International Business Machines Corporation | Slip sensitive robot gripper system |
EP0173234A1 (en) * | 1984-08-24 | 1986-03-05 | The Perkin-Elmer Corporation | Robotic grip assembly |
-
1986
- 1986-09-03 US US06/903,178 patent/US4766389A/en not_active Expired - Lifetime
-
1987
- 1987-09-03 WO PCT/US1987/002205 patent/WO1988001747A1/en not_active Application Discontinuation
- 1987-09-03 JP JP62505560A patent/JP2743977B2/en not_active Expired - Lifetime
- 1987-09-03 EP EP19870906139 patent/EP0281610A4/en not_active Withdrawn
- 1987-09-03 AU AU79662/87A patent/AU596873B2/en not_active Ceased
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3651505A (en) * | 1969-03-24 | 1972-03-21 | Schmall Margit | Capacitive distance measuring |
US4266263A (en) * | 1977-01-21 | 1981-05-05 | Semperit Aktiengesellschaft | Force measuring capacitor |
US4451780A (en) * | 1980-09-26 | 1984-05-29 | Ogasawara Hiromi | Non-contact type microdisplacement meter |
US4413349A (en) * | 1980-10-31 | 1983-11-01 | General Dynamics Corporation/Convair Div. | Non-contact measurement system and method for determining the contour of an electrically conductive surface |
US4526043A (en) * | 1983-05-23 | 1985-07-02 | At&T Bell Laboratories | Conformable tactile sensor |
US4588348A (en) * | 1983-05-27 | 1986-05-13 | At&T Bell Laboratories | Robotic system utilizing a tactile sensor array |
US4557386A (en) * | 1983-06-27 | 1985-12-10 | Cochlea Corporation | System to measure geometric and electromagnetic characteristics of objects |
US4611296A (en) * | 1983-11-11 | 1986-09-09 | Siemens Aktiengesellschaft | Manipulation device such as an industrial robot having at least one sensor |
US4555953A (en) * | 1984-04-16 | 1985-12-03 | Paolo Dario | Composite, multifunctional tactile sensor |
DD226827A1 (en) * | 1984-09-06 | 1985-09-04 | Akad Wissenschaften Ddr | SLIDING SENSOR FOR MEASURING TWO-DIMENSIONAL SHIFTS |
US4584625A (en) * | 1984-09-11 | 1986-04-22 | Kellogg Nelson R | Capacitive tactile sensor |
Cited By (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5127301A (en) * | 1987-02-03 | 1992-07-07 | Yamaha Corporation | Wear for controlling a musical tone |
US4950987A (en) * | 1989-03-03 | 1990-08-21 | University Of North Carolina At Charlotte | Magneto-inductive sensor for performing tactile and proximity sensing |
US5315259A (en) * | 1992-05-26 | 1994-05-24 | Universities Research Association, Inc. | Omnidirectional capacitive probe for gauge of having a sensing tip formed as a substantially complete sphere |
DE19641607C2 (en) * | 1995-10-10 | 2003-05-15 | Esab Group Inc | Digitizing probe and CNC cutting machine |
EP0838737A1 (en) * | 1996-10-25 | 1998-04-29 | Asulab S.A. | Means for identifying a manual action on a surface, in particular for a time piece |
FR2755269A1 (en) * | 1996-10-25 | 1998-04-30 | Asulab Sa | DEVICE FOR IDENTIFYING A MANUAL ACTION ON A SURFACE, ESPECIALLY FOR A WATCHMAKING PIECE |
US6184871B1 (en) | 1996-10-25 | 2001-02-06 | Asulab S.A. | Identification device of a manual action on a surface, in particular for a timeplace |
US5988971A (en) * | 1997-07-09 | 1999-11-23 | Ade Optical Systems Corporation | Wafer transfer robot |
EP0942259A1 (en) * | 1998-03-09 | 1999-09-15 | STMicroelectronics, Inc. | Capacitive distance sensor |
US6593756B1 (en) * | 1998-12-23 | 2003-07-15 | Rubitec Gesellschaft für Innovation und Technologie der Ruhruniversität Bochum mbH | Tactile sensor |
US6369588B1 (en) | 1999-11-09 | 2002-04-09 | Gerard E. Sleefe | Sensor system for web inspection |
US7064559B2 (en) * | 2001-03-23 | 2006-06-20 | Vibrosystm Inc. | Non intrusive and dynamic method for measuring a distance or the variation thereof through dielectrics |
US20040135588A1 (en) * | 2001-03-23 | 2004-07-15 | Marc Bissonnette | Non intrusive and dynamic method for measuring a distance or the variation thereof through dielectrics |
WO2002077566A1 (en) * | 2001-03-23 | 2002-10-03 | Vibrosystm Inc. | Non intrusive and dynamic method for measuring a distance or the variation thereof through dielectrics |
WO2003019106A1 (en) * | 2001-08-31 | 2003-03-06 | Friedrich Franek | Sensor for determining surface parameters of a test object |
DE10247404B4 (en) * | 2002-10-04 | 2007-10-18 | T & T Medilogic Medizintechnik Gmbh | Sensor for detecting forces by size and direction and pressure measuring plate formed therefrom |
US20040257744A1 (en) * | 2003-06-23 | 2004-12-23 | Bushko Wit Cezary | Collision avoidance system and method |
US20060267140A1 (en) * | 2005-05-26 | 2006-11-30 | Korea Advanced Institute Of Science And Technology | Electrode layer for capacitors, method of manufacturing the electrode layer, unit sensor using the electrode layer, and tactile sensor using the unit sensor |
US7692255B2 (en) | 2005-05-26 | 2010-04-06 | Korea Advanced Institute Of Science And Technology | Electrode layer for capacitors, method of manufacturing the electrode layer, unit sensor using the electrode layer, and tactile sensor using the unit sensor |
US20080229061A1 (en) * | 2006-09-28 | 2008-09-18 | Infineon Technologies Ag | Processor Element for use in a Network of Processor Elements |
US8556681B2 (en) | 2007-01-29 | 2013-10-15 | Tosoh Smd, Inc. | Ultra smooth face sputter targets and methods of producing same |
US20100105296A1 (en) * | 2007-01-29 | 2010-04-29 | Tosoh Smd, Inc. | Ultra smooth face sputter targets and methods of producing same |
US8271138B2 (en) * | 2007-09-12 | 2012-09-18 | Intelligent Hospital Systems Ltd. | Gripper device |
US20090067973A1 (en) * | 2007-09-12 | 2009-03-12 | Intelligent Hospital Systems Ltd. | Gripper Device |
US8515579B2 (en) | 2009-12-09 | 2013-08-20 | GM Global Technology Operations LLC | Systems and methods associated with handling an object with a gripper |
US10065309B2 (en) | 2012-03-08 | 2018-09-04 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
US20130238129A1 (en) * | 2012-03-08 | 2013-09-12 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
US9156172B2 (en) | 2012-03-08 | 2015-10-13 | Quality Manufacturing Inc. | Robot skeletal components |
US9205567B2 (en) * | 2012-03-08 | 2015-12-08 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
US9375852B2 (en) | 2012-03-08 | 2016-06-28 | Quality Manufacturing Inc. | Rotational hydraulic joints |
US9605952B2 (en) | 2012-03-08 | 2017-03-28 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
US10576626B2 (en) | 2012-03-08 | 2020-03-03 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
US9243390B2 (en) | 2013-03-14 | 2016-01-26 | Delta Faucet Company | Capacitive sensing faucet including a conductive polymer |
US9901499B2 (en) | 2014-01-29 | 2018-02-27 | Roho, Inc. | Cushion immersion sensor |
US10718359B2 (en) | 2015-08-21 | 2020-07-21 | Quality Manufacturing Inc. | Devices and systems for producing rotational actuation |
CN107247523A (en) * | 2017-05-26 | 2017-10-13 | 清华大学 | A kind of Fingertip tactile-sense interactive device of many arrays |
US20200191704A1 (en) * | 2017-08-14 | 2020-06-18 | Newsouth Innovations Pty Limited | Friction-based tactile sensor for measuring grip security |
US11945098B2 (en) * | 2017-08-14 | 2024-04-02 | Contactile Pty Ltd | Friction-based tactile sensor for measuring grip security |
CN108051027B (en) * | 2017-11-23 | 2019-12-31 | 清华-伯克利深圳学院筹备办公室 | Sliding sense sensor capable of measuring pressure and sliding simultaneously |
CN108051027A (en) * | 2017-11-23 | 2018-05-18 | 清华-伯克利深圳学院筹备办公室 | A kind of sliding feeling sensor that can be measured pressure simultaneously and slide |
WO2021080730A1 (en) * | 2019-10-25 | 2021-04-29 | Dexterity, Inc. | Detecting slippage from robotic grasp |
US11607816B2 (en) | 2019-10-25 | 2023-03-21 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
US11772262B2 (en) | 2019-10-25 | 2023-10-03 | Dexterity, Inc. | Detecting slippage from robotic grasp |
US11969880B2 (en) | 2023-02-08 | 2024-04-30 | Dexterity, Inc. | Detecting robot grasp of very thin object or feature |
Also Published As
Publication number | Publication date |
---|---|
AU596873B2 (en) | 1990-05-17 |
AU7966287A (en) | 1988-03-24 |
EP0281610A1 (en) | 1988-09-14 |
EP0281610A4 (en) | 1990-10-24 |
WO1988001747A1 (en) | 1988-03-10 |
JP2743977B2 (en) | 1998-04-28 |
JPH01501654A (en) | 1989-06-08 |
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